JPS62126036A - Depalletizer control device - Google Patents

Abstract

PURPOSE:To provide automated depalletization by determining the amount of motion from the point of origin which is identical to the transport start position sensed by a pickup roller and a conveyor after sensing the specified amount of rise of a lift table by carrying in objects and by performing transportation one row after another from the first level. CONSTITUTION:When a lift table rises, the amount of rise is sensed by an encoder E1, and when the first level of objects 1 pass an opening 41, a photoelectric switch PH4 senses it to clear the umber of pulses in the encoder E1, which is set as the point of origin for start of rising by the lift table, that will rise for the amount corresponding to the height of object 1 in the entered load pattern. Then a pusher 58 advances to come into contact with the object 1, a switch LS1 is attached to stop elongation to cause hindrance of the object from retracting, and retraction of a pickup roller causes contact with objects 1 in the first row, a photoelectric switch PH5 is actuated to clear another encoder E2 so as to set as the point of origin for start of transport, and rotation and retraction of roller conveyor causes the objects 1 to be lifted from the first row for transport forward into a cargo box via a conveyor 18 etc.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a control device for a depalletizer that receives and depalletizes cargo palletized and shipped from a factory or the like.

(Prior art) As shown in Japanese Unexamined Patent Application Publication No. 59-183237, the applicant previously reported that goods (corrugated pole boxes, etc.) shipped from factories, etc.
We are proposing a cargo transport system that accepts cargo into a loading section and sequentially loads it into a vehicle cargo box using an implantable device.

(Problems to be Solved by the Present Invention) In such a cargo conveyance system, cargo shipped from a factory etc. is palletized onto pallets according to a predetermined loading pattern, and each pallet is supplied. In order to load cargo into a vehicle cargo box or the like while considering loading efficiency, it is necessary to separate the palletized cargo into each row of each stage using a so-called depalletizer.

Therefore, in a depalletizer, there are various factors such as the difference in the placement pattern of the cargo on the pallet, the presence or absence of the cargo on the pallet, the state of the cargo on the pallet, the transport start position and the end position, etc.
It is necessary to accurately understand and control complex work conditions.

The present invention has been made in view of the above points, and provides a depalletizer control device that automatically depalletizes cargo on a valet.

(Means for Solving the Problems) The present invention provides a lift table that can be raised and lowered, a pickup roller that rotates in the cargo conveyance direction and can move forward and backward, and a pickup roller that is connected to the pickup roller and that rotates in the same direction and can move forward and backward. In a depalletizer comprising a roller conveyor with a plurality of rollers, a first detection means detects a position at which loading of cargo by the pickup roller starts; a second detection means detects the amount of movement of the pickup roller; The present invention has a configuration in which a third detection means for detecting the amount of elevation of the lift table is provided.

(Function) When the cargo palletized on the pallet according to the predetermined planting pattern is carried into the depalletizer, the lift table
and set the cargo at the required height using the third detection means.

Thereafter, the big seven rollers and roller conveyor rotating in the load conveyance direction begin to move backward in the load direction, and when the bee and up rollers reach the position where the load starts to be conveyed, the first detection means detects that position. To detect.

Then, with the transport start position detected by the first detecting means as the origin, the amount of movement for transporting all the items on the first stage on the pallet is determined, and the items are sequentially transported for each row.

When all the loads on the first stage have been transported, that is, when a preset amount of movement is reached, the second detection means is activated, and the pickup roller and roller conveyor stop retreating and move forward to their original positions.

When the pickup roller and the roller conveyor move forward and return to their original positions, the lift table is raised to a position corresponding to the height of the second stage cargo based on the third detection means.

When the predetermined height is reached, the pick-up roller and roller conveyor start to retreat in the same way as the first stage, and transport the goods sequentially from the first row of the second stage, until all the goods in the second stage have been transported. Once finished, it returns to its original position and prepares for the next stage of transport.

(Example) Regarding an example of the present invention, a baggage conveyance device will first be described based on FIG.

Reference numeral 10 denotes a carry-in section, which includes a carry-in conveyor 13 (the carry-in direction is the direction of arrow A) that carries in palletized cargo l stacked on a pallet 12 via a forklift (not shown), and a pallet carry-out part that carries out empty pallets 12. It consists of a conveyor 15 (the carrying out direction is in the direction of arrow B), a table lifter for carrying out the stacked cargo l one by one, and a depalletizer 16 consisting of a pickup roller.

Reference numeral 17 denotes a conveyor, and a delivery roller conveyor 18 is connected to the carry-in section lO and sends out the baggage l depalletized by the depalletizer 16. A delivery belt conveyor 19 that ascends and descends between the delivery roller conveyors 18 and sends out cargo in a direction perpendicular to the feeding direction of the delivery roller conveyors 18.
, a feed conveyor 20 that turns in an S-shape from the carry-in section 10, and a first telescopic conveyor 21 provided at the tip of the feed conveyor 20.

Reference numeral 22 denotes a baggage attitude control device, and a pushing device 2 that measures the size of the baggage and returns the baggage that is lopsided to one side of the conveyor to the center of the conveyor.
5, and is provided in the middle of the feed conveyor 20.

Reference numeral 26 denotes a loading device, which includes a second telescopic conveyor 27 that can extend and retract into the cargo box 2 of a truck, sea container, etc., an inclined conveyor 28 provided at the tip of this telescopic conveyor 27, and a loading device that is connected to the front end of the inclined conveyor 28 and is It has a loading device 30 equipped with a feed conveyor 29, etc., and the loading device 30 is disposed in a vertically movable manner in front of a container carriage 31 that can move back and forth within the cargo box 2 along with an inclined conveyor 28. It is something that will be done.

Reference numeral 32 denotes a general truck, which is composed of a loading section 10, a conveyor 17, a platform 33 on which a loading device 26 is mounted, wheels 34 provided on the underside of the platform a33, and a dog leveler 35 connected to the load 'Ih2. The overall truck 32 can be operated by interlocking four wheels 34, and can run laterally or diagonally, or can make spin turns.

By the way, the depalletizer 1 provided in the carrying-in section IO
6 will be explained in detail with reference to FIGS. 2 to 4.
3, four pillars 40a are erected, and the left and right frames 40b are fixed to the upper ends of the pillars 40a in the front-rear direction, and the rear pP 40c is fixed to the rear of these left and right frames 40bFIJi. has been done. And the left,
Right side frame 40b.

An opening 41 is formed by the rear frame 40b and the rear frame 40c, and forms a passage for the luggage 1 as described later.

Here, "front" and "back" refer to the direction in which the luggage l is transported forward, and "left" and "right" refer to left and right toward the front.

On the other hand, above and below the left and right side frames 40b, guide rails 42 and 42 each having an arc-shaped front section are stretched in the longitudinal direction, and a slider 43 is attached to the guide rail 42. They are fitted so that they can straddle and move freely.

At the front and rear ends of the slider 43, a sprocket 46 is fixed to a driven shaft 45 which is rotatably supported between the front struts 4Oa, and a sprocket 46 is rotatably supported rearward between the left and right frames 4Ob. Both ends of a chain 44 suspended from a sprocket 48 fixed to a drive shaft 47 are connected to each other.
Note that the rollers constituting the chain 44 are also arranged on the guide rail 42.

The drive shaft 47 is driven by receiving power from an electric motor Ml disposed in the rear space of the rear frame 40c.

A pickup roller 49 is rotatably supported between the sliders 43, and a plurality of rollers 50 are rotatably supported between the links of the chain 44 to form a roller conveyor. It is pivoted on. The pickup roller 49 has a slightly smaller diameter than the roller 50 and is made of hard rubber so as to conveniently cut out the load 1.

Therefore, when the electric motor Ml is driven to rotate, the pickup roller 49 and the rollers 50 are moved back through the slider 43 and the chain 44 so as to cover the opening 41, or most of the rollers 50... can be advanced so as to be stored in the front strut 40a.

On the other hand, an electric motor M2 is disposed in front of the left frame 40b, and is appropriately decelerated to drive a sprocket 51 pivotally supported on the inner surface of the left frame 4Ob.

Further, a sprocket 52 is provided on the rear inner surface of the left side frame 40b.
A chain 53 is suspended between these sprockets 51 and 52 and placed on a guide rail 54 laid in the longitudinal direction of the left side frame 40b.

Further, the slider 43 has at least one rotary shaft protruding in the inner and outer directions rotatably supported,
Among them, sprockets 55 and 56 are installed on the outside,
The chain 53 is suspended around the outer sprocket 55.

Further, the pickup roller 49 and the roller 50...
A pair of sprockets 49a are respectively attached to the left shaft end of the
, 49b, 50a, and 50b (only one is shown in FIG. 2), and are mounted on the sprocket 56 mounted inside the slider 43 and the shaft end of the pickup roller 49. (other sprocket) 49b
49a and one sprocket h50a mounted on the shaft end of the roller 50, between the other sprocket 50b mounted on the shaft end of the adjacent roller 50, and between one sprocket 50a. The chain is hanging.

Therefore, when the electric motor M2 is driven to rotate, the pickup roller 49 and the rollers 50 are all driven to rotate in the same direction.

Furthermore, an air cylinder 57 is provided in the rear space of the rear frame 40c.
A pusher 5 is installed on the piston rod 1.
8 are pivotally connected. A pair of guide bars 59 are connected to the pusher 58 while sandwiching the air cylinder 57, and the guide bars 59 slide while being guided by a guide 60 fixed to the rear space of the rear frame 40c. It has become. As a result, when the air cylinder 57 is expanded and contracted, the pusher 58 can move forward and backward in the horizontal direction.

Further, although not shown in detail, a lift table 61 is disposed so as to be held between the carry-in conveyors 13, and can be raised and lowered by a conventionally known lift mechanism, for example, a lift mechanism using an X-type link mechanism. It has become.

Next, referring to the arrangement of the detection means provided for controlling the depalletizer 16 (FIGS. 5 and 6),
The operation of the present invention will now be explained.

First, a pallet 12 loaded with palletized cargo 1
is carried into the carry-in section 10, and when the pallet 12 reaches a predetermined position by the carry-in conveyor 13, the photoelectric switch PH
1 is activated and the drive of the carry-in conveyor 13 is stopped.

Then, the photoelectric switch PH2 confirms that the luggage 1 is loaded on the pallet 12, and at the same time, eight photoelectric switches PH3 determine whether the loaded state of the luggage 1 is appropriate.

That is, whether or not the cargo 1 is in a position where it interferes with the opening 41 due to the lift table 61 being lifted is determined by the photoelectric switches PH3 and φ, which emit detection signals in the diagonal directions on each of the four front, rear, left, and right sides.

Thereafter, when the lift table 61 starts to rise, the I- and external events are detected by an encoder El (third detection means) connected to the lower surface of the lift table 61.

As a result, when the first-stage cargo passes through the opening 41, the photoelectric switch PH4 detects the E side of the cargo 1, and the number of pulses of the encoder E1 is reached, and the lift table 61 starts lifting. Set it as the origin. Also, at this time, the @ symbol has already been supplied to the electric motor M2,
P, /7 up roller 49″RI and roller 50...
The roller conveyor consisting of the following is rotated clockwise in FIG.

On the other hand, the loading pattern of the cargo 1 loaded on the pallet 12 is input to the control device (not shown), and the lift table 61 is raised by an amount corresponding to the height of the cargo 1 in the input loading pattern. 6 In other words, the necessary amount of rise from the cargo lh surface detected by the photoelectric switch PH4 is set with the encoder El12.
．． When it is detected that a problem has occurred, the lifting of the soft table 61 is stopped and the raised position is maintained.

Next, the air cylinder 57 is extended and the pusher 58 is activated.
moves forward and when the pusher 58 comes into contact with the load l, a tape switch LSI attached to the contact surface is activated and the expansion operation of the air cylinder 57 is stopped. Therefore, the pusher 58 prevents the load 1 from moving backward.

Thereafter, the electric motor M1 rotates, and the roller conveyor consisting of the pickup roller 49, the rollers 50, and so on retreats.

This amount of retraction is detected by an encoder E2 (second detection means) connected to the output shaft of the electric motor M1.

When the pickup roller 49 comes into contact with the cargo 1 in the first row due to the retreat of the pickup roller 49, the photoelectric switch PH5 (first detection means) is activated, clears the encoder E2, and returns to the starting point of conveyance by the pickup roller 49. settings (see Figure 7).

When the electric motors Ml and M2 are continuously driven to rotate, the load l is sequentially lifted from the first row and conveyed forward by the rotation and retreat of the roller conveyor consisting of the pickup roller 49 and a plurality of rollers 50. Then, it is supplied to the packing box 2 via the delivery roller conveyor 18, the delivery belt conveyor 19, and the delivery conveyor 20W (FIG. 8).

In this way, the nth column (4 in the embodiment shown in the drawing)
When the load 1 is conveyed by the pickup rollers 49 and the roller conveyor up to column 1), that is, when the pickup rollers 49 reach a predetermined retreat position according to the loading pattern set and input in advance, the detection signal from the encoder E2 At the same time as the electric motor Ml is driven in the reverse direction, the air cylinder 57 is compressed.

As a result, the pickup roller 49 and the roller conveyor move forward, and when the pickup roller 49 reaches the normal forward position, a dog (not shown) provided on the slider 43 operates the limit switch LS2 to stop the reverse drive of the electric motor Ml. do.

Further, the contraction limit position of the air cylinder 57 is detected by the limit switch LS3, and the air cylinder 57 is pressed at that position.

The shutter 58 stops.

Upon detection of the limit switch LS2, the lifting of the lift table 61 is restarted, and the above-mentioned procedure 1.
Therefore, the cargo 1 is transported from the first row of the second stage.

Similarly, when the transport of the luggage 1 in the last row of the m-th stage (the fifth stage in the embodiment shown in the drawings) is completed according to the loading pattern set and input in advance, the storage operation begins.

That is, when the limit switch LS2 is activated to indicate that the transport of the m-th stage load L has been completed and the pickup roller 49 has reached the normal forward position, the lift table 61 rises again and reaches the highest position. limit switch L
When S5 is activated, the lift table 61 starts lowering.

When the lift table 61 reaches the lowering limit position, the limit switch LS4 is activated to stop the lowering of the lift table 61.

In the downward stroke of the lift table 61, the valley I table 12
is placed on the cutting conveyor 131-z, and the paper is palletized.

When 12 is laR, the aforementioned charging suino 1000 PH2
The presence or absence of luggage l is detected by.

When the absence of the load l is confirmed, the carry-in conveyor 13 is activated, and the empty pallet 12 is conveyed in the direction of the carry-out conveyor 15, completing the conveyance of one pallet. LS7 is a limit switch that detects the backward limit position and forward limit position of the pickup roller 49, and prevents the pickup roller 49 from moving beyond the implantation pattern and damaging the equipment.

(Effects) As described above, in the present invention, if a loading pattern is input in advance, the depalletizer automatically moves from the cargo located in the first column of the first stage to the nth column of the mth stage. It can be transported sequentially.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, and FIG. 1 is a perspective view of a cargo conveyance device, FIG. 2 is a partially cutaway plan view of a depalletizer, and FIG. 3 is a perspective view of a depalletizer. Figure 4 is a cross-sectional view taken from line 1'V-IV in Figure 2.
FIGS. 5 and 6 are explanatory views of the arrangement of each detection means, and FIGS. 7 to 9 are explanatory views showing the cargo conveyance process. 1... Luggage, 10... Loading section, 16... Fist depalletizer, 49... Pick up roller, No. 50 Φ roller, 61... φ lift table PHI NPH5,LS
I NLS7. El, E2...detection means

Claims (9)

[Claims] (1) A lift table that can be raised and lowered, a pick-up roller that can move forward and backward while rotating in the load conveyance direction, and a pickup roller that is connected to the pick-up roller is installed in a loading section that receives freight that has been palletized and loaded on a pallet at a factory, etc. In a depalletizer comprising a roller conveyor equipped with a plurality of rollers that rotate in the same direction and are freely movable forward and backward, the depalletizer includes a first detection means for detecting a start position of conveyance of a load by the pickup roller, and a first detection means for detecting a movement amount of the pickup roller. A second detection means for detecting and a third detection means for detecting the amount of elevation of the lift table are provided, and the cargo loaded on the pallet is moved to each stage via the lift table, the pickup roller and the roller conveyor. A depalletizer control device characterized by being capable of sequentially conveying each row. (2) The depalletizer control device according to claim 1, wherein the depalletizer is provided with a pusher that faces the pickup roller and presses the load in the transport direction. (3) The depalletizer control device according to claim 2, wherein the pusher is provided with a detection means for detecting contact with cargo. (4) The depalletizer control device according to claim 1, wherein the depalletizer is provided with a detection means for detecting the forward limit position and the backward limit position of the pickup roller. (5) A control device for a depalletizer according to claim 1, wherein the depalletizer is provided with a detection means for detecting the lifting/lowering limit position of the lift table. (6) The depalletizer control device according to claim 1, wherein the depalletizer is provided with a detection means for detecting the upper surface of the load when the lift table lifts the load. (7) The depalletizer is provided with a detection means for detecting the stop position of the carried pallet.
A control device for the depalletizer described in Section 1. (8) A control device for a depalletizer according to claim 1, wherein the depalletizer is provided with a detection means for detecting that cargo is loaded on a pallet that has been carried in. (9) A control device for a depalletizer according to claim 1, wherein the depalletizer is provided with a detection means for detecting the loading state of cargo carried on a pallet.